In this paper, an experiment for vehicle forces estimation is presented. The purpose of this experiment is to provide understanding and validation for future experiments on a heavy duty vehicle. The main points discussed in this paper concern the study of evaluating the wheel vehicle forces using either suspension air cushions pressure sensor or suspension deflection measuring. The identification of parameters of stiffness and damping of the suspension and the use of an exact differentiator based on sliding mode theory to assess the vertical wheel force are presented. Strain gauges are used as reference measurements. The validation tests were carried out on an instrumented test bench with wheels rolling at various speeds and road longitudinal profiles.
